JayShaw-git commented 3 years ago

Description: CMake Error at /usr/share/cmake-3.10/Modules/GoogleTestAddTests.cmake:39. Hope you can help me ,I feel tired of it with solving many problem three all days .Thanks very much!

Command:

catkin build

Console output:


Errors     << kimera_vio:make /home/jayshaw/catkin_ws/logs/kimera_vio/build.make.000.log                                      
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Camera.cpp:15:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Camera.h: In constructor ‘VIO::Camera::Camera(const VIO::CameraParams&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Camera.h:59:40: warning: ‘VIO::Camera::camera_impl_’ will be initialized after [-Wreorder]
   gtsam::PinholeCamera<gtsam::Cal3_S2> camera_impl_;
                                        ^~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Camera.h:58:18: warning:   ‘gtsam::Cal3_S2 VIO::Camera::calibration_’ [-Wreorder]
   gtsam::Cal3_S2 calibration_;
                  ^~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Camera.cpp:28:1: warning:   when initialized here [-Wreorder]
 Camera::Camera(const CameraParams& cam_params)
 ^~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Camera.cpp:15:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Camera.h:58:18: warning: ‘VIO::Camera::calibration_’ will be initialized after [-Wreorder]
   gtsam::Cal3_S2 calibration_;
                  ^~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Camera.h:57:16: warning:   ‘VIO::CameraParams VIO::Camera::cam_params_’ [-Wreorder]
   CameraParams cam_params_;
                ^~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Camera.cpp:28:1: warning:   when initialized here [-Wreorder]
 Camera::Camera(const CameraParams& cam_params)
 ^~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoCamera.cpp:15:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/StereoCamera.h: In constructor ‘VIO::StereoCamera::StereoCamera(const VIO::CameraParams&, const VIO::CameraParams&, const VIO::StereoMatchingParams&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/StereoCamera.h:195:10: warning: ‘VIO::StereoCamera::baseline_’ will be initialized after [-Wreorder]
   double baseline_;
          ^~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/StereoCamera.h:170:16: warning:   ‘VIO::CameraParams VIO::StereoCamera::left_cam_params_’ [-Wreorder]
   CameraParams left_cam_params_;
                ^~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoCamera.cpp:39:1: warning:   when initialized here [-Wreorder]
 StereoCamera::StereoCamera(const CameraParams& left_cam_params,
 ^~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoCamera.cpp:15:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/StereoCamera.h:176:35: warning: ‘VIO::StereoCamera::right_cam_undistort_rectifier_’ will be initialized after [-Wreorder]
   UndistorterRectifier::UniquePtr right_cam_undistort_rectifier_;
                                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/StereoCamera.h:174:24: warning:   ‘VIO::StereoMatchingParams VIO::StereoCamera::stereo_matching_params_’ [-Wreorder]
   StereoMatchingParams stereo_matching_params_;
                        ^~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoCamera.cpp:39:1: warning:   when initialized here [-Wreorder]
 StereoCamera::StereoCamera(const CameraParams& left_cam_params,
 ^~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp: In member function ‘void VIO::StereoFrame::getRightKeypointsLKunrectified()’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp:835:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < px_ref.size(); i++)  // fill in right frame
                   ~~^~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp: In member function ‘VIO::StatusKeypointsCV VIO::StereoFrame::getRightKeypointsRectifiedRGBD(cv::Mat, cv::Mat, const StatusKeypointsCV&, const double&, const double&, const double&, const double&) const’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp:1055:8: warning: unused variable ‘writeImageLeftRightMatching’ [-Wunused-variable]
   bool writeImageLeftRightMatching = false;
        ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp: In member function ‘std::pair<std::pair<VIO::KeypointStatus, cv::Point_<float> >, double> VIO::StereoFrame::findMatchingKeypointRectified(cv::Mat, const KeypointCV&, cv::Mat, int, int, int, int, double, bool) const’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp:1154:7: warning: unused variable ‘result_cols’ [-Wunused-variable]
   int result_cols = stripe_cols - templ_cols + 1;
       ^~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/StereoFrame.cpp:1155:7: warning: unused variable ‘result_rows’ [-Wunused-variable]
   int result_rows = stripe_rows - templ_rows + 1;
       ^~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:17:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/dataprovider/EurocDataProvider.h: In constructor ‘VIO::EurocDataProvider::EurocDataProvider(const string&, const int&, const int&, const VIO::VioParams&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/dataprovider/EurocDataProvider.h:216:11: warning: ‘VIO::EurocDataProvider::final_k_’ will be initialized after [-Wreorder]
   FrameId final_k_;    // end frame
           ^~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/dataprovider/EurocDataProvider.h:201:13: warning:   ‘VIO::VioParams VIO::EurocDataProvider::pipeline_params_’ [-Wreorder]
   VioParams pipeline_params_;
             ^~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:51:1: warning:   when initialized here [-Wreorder]
 EurocDataProvider::EurocDataProvider(const std::string& dataset_path,
 ^~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp: In member function ‘bool VIO::EurocDataProvider::parseImuData(const string&, const string&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:239:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (size_t i = 0u; i < gyr_acc_data.size() + 1u; i++) {
                         ~~^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/DataProviderModule.cpp:16:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/dataprovider/DataProviderModule.h: In constructor ‘VIO::DataProviderModule::DataProviderModule(VIO::MISOPipelineModule<VIO::StereoImuSyncPacket, VIO::StereoImuSyncPacket>::OutputQueue*, const string&, const bool&, const VIO::StereoMatchingParams&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/dataprovider/DataProviderModule.h:126:24: warning: ‘VIO::DataProviderModule::stereo_matching_params_’ will be initialized after [-Wreorder]
   StereoMatchingParams stereo_matching_params_;
                        ^~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/dataprovider/DataProviderModule.h:124:13: warning:   ‘VIO::Timestamp VIO::DataProviderModule::timestamp_last_frame_’ [-Wreorder]
   Timestamp timestamp_last_frame_;
             ^~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/DataProviderModule.cpp:20:1: warning:   when initialized here [-Wreorder]
 DataProviderModule::DataProviderModule(
 ^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp: In member function ‘const VIO::InitializationPerformance VIO::EurocDataProvider::getInitializationPerformance(const std::vector<long int>&, const std::vector<gtsam::Pose3>&, const VIO::VioNavState&, const Vector3&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/EurocDataProvider.cpp:620:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 1; i < timestamps.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/KittiDataProvider.cpp: In member function ‘VIO::KittiDataProvider::KittiData::operator bool() const’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/dataprovider/KittiDataProvider.cpp:29:26: warning: suggest parentheses around comparison in operand of ‘==’ [-Wparentheses]
       timestamps_.size() == left_img_names_.size() == right_img_names_.size();
       ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/playground/EurocPlayground.cpp: In member function ‘void VIO::EurocPlayground::visualizeGtData(const bool&, const bool&, const bool&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/playground/EurocPlayground.cpp:102:17: warning: unused variable ‘K’ [-Wunused-variable]
     const auto& K = vio_params_.camera_params_.at(0).K_;
                 ^
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/feature-detector/anms/anms.cpp: In function ‘std::vector<cv::KeyPoint> anms::TopN(const std::vector<cv::KeyPoint>&, int)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/feature-detector/anms/anms.cpp:39:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (numRetPoints > keyPoints.size()) {
       ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/feature-detector/anms/anms.cpp: In function ‘std::vector<cv::KeyPoint> anms::BrownANMS(const std::vector<cv::KeyPoint>&, int)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/feature-detector/anms/anms.cpp:52:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (numRetPoints > keyPoints.size()) {
       ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/feature-detector/FeatureDetector.cpp: In member function ‘void VIO::FeatureDetector::featureDetection(VIO::Frame*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/feature-detector/FeatureDetector.cpp:112:8: warning: variable ‘start_time_tic’ set but not used [-Wunused-but-set-variable]
   auto start_time_tic = utils::Timer::tic();
        ^~~~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:8:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Tracker.h: In constructor ‘VIO::Tracker::Tracker(const VIO::FrontendParams&, const VIO::CameraParams&, VIO::DisplayQueue*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Tracker.h:151:14: warning: ‘VIO::Tracker::landmark_count_’ will be initialized after [-Wreorder]
   LandmarkId landmark_count_;
              ^~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/frontend/Tracker.h:59:24: warning:   ‘const VIO::FrontendParams VIO::Tracker::tracker_params_’ [-Wreorder]
   const FrontendParams tracker_params_;
                        ^~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:35:1: warning:   when initialized here [-Wreorder]
 Tracker::Tracker(const FrontendParams& tracker_params,
 ^~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘void VIO::Tracker::featureTracking(VIO::Frame*, VIO::Frame*, const gtsam::Rot3&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:150:31: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     if (!status[i] || lmk_age > tracker_params_.maxFeatureAge_) {
                       ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<VIO::TrackingStatus, gtsam::Pose3> VIO::Tracker::geometricOutlierRejectionMono(VIO::Frame*, VIO::Frame*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:240:36: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (mono_ransac_.inliers_.size() < tracker_params_.minNrMonoInliers_) {
       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<VIO::TrackingStatus, gtsam::Pose3> VIO::Tracker::geometricOutlierRejectionMonoGivenRotation(VIO::Frame*, VIO::Frame*, const gtsam::Rot3&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:328:46: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (mono_ransac_given_rot_.inliers_.size() <
       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
       tracker_params_.minNrMonoInliers_) {
       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~       
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<std::pair<VIO::TrackingStatus, gtsam::Pose3>, Eigen::Matrix<double, 3, 3> > VIO::Tracker::geometricOutlierRejectionStereoGivenRotation(VIO::StereoFrame&, VIO::StereoFrame&, const gtsam::Rot3&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:604:22: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (inliers.size() < tracker_params_.minNrStereoInliers_) {
       ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<VIO::TrackingStatus, gtsam::Pose3> VIO::Tracker::geometricOutlierRejectionStereo(VIO::StereoFrame&, VIO::StereoFrame&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/frontend/Tracker.cpp:695:38: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   if (stereo_ransac_.inliers_.size() < tracker_params_.minNrStereoInliers_) {
       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/VioBackEnd.cpp:30:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd.h: In constructor ‘VIO::VioBackEnd::VioBackEnd(const gtsam::Pose3&, const StereoCalibPtr&, const VIO::BackendParams&, const VIO::ImuParams&, const VIO::BackendOutputParams&, bool)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd.h:440:29: warning: ‘VIO::VioBackEnd::backend_output_params_’ will be initialized after [-Wreorder]
   const BackendOutputParams backend_output_params_;
                             ^~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd.h:187:29: warning:   ‘std::atomic<VIO::VioBackEnd::BackendState> VIO::VioBackEnd::backend_state_’ [-Wreorder]
   std::atomic<BackendState> backend_state_;
                             ^~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/VioBackEnd.cpp:67:1: warning:   when initialized here [-Wreorder]
 VioBackEnd::VioBackEnd(const Pose3& B_Pose_leftCam,
 ^~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd-definitions.h:21:0,
                 from /home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd.h:50,
                 from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/VioBackEnd.cpp:30:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/VioBackEnd.cpp: In member function ‘void VIO::VioBackEnd::addLandmarksToGraph(const LandmarkIds&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/VioBackEnd.cpp:391:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
       LOG_IF(FATAL, obs_kf.first != curr_kf_id_)
                     ~~~~~~~~~~~~~^~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:21:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/RegularVioBackEnd.h: In constructor ‘VIO::RegularVioBackEnd::RegularVioBackEnd(const gtsam::Pose3&, const StereoCalibPtr&, const VIO::BackendParams&, const VIO::ImuParams&, const VIO::BackendOutputParams&, const bool&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/RegularVioBackEnd.h:78:33: warning: ‘VIO::RegularVioBackEnd::regular_vio_params_’ will be initialized after [-Wreorder]
   const RegularVioBackEndParams regular_vio_params_;
                                 ^~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:113:28: warning:   base ‘VIO::VioBackEnd’ [-Wreorder]
                  log_output) {
                            ^
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:100:1: warning:   when initialized here [-Wreorder]
 RegularVioBackEnd::RegularVioBackEnd(
 ^~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp: In member function ‘void VIO::RegularVioBackEnd::addLandmarksToGraph(const LandmarkIds&, const LandmarkIds&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:405:35: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     if (feature_track.obs_.size() >= FLAGS_min_num_of_observations) {
         ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp: In member function ‘void VIO::RegularVioBackEnd::addRegularityFactors(const VIO::Plane&, VIO::RegularVioBackEnd::LmkIdToRegularityTypeMap*, std::vector<std::pair<long unsigned int, long int> >*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/backend/RegularVioBackEnd.cpp:1064:42: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
           if (list_of_constraints.size() >
               ~~~~~~~~~~~~~~~~~~~~~~~~~~~^
               FLAGS_min_num_of_plane_constraints_to_add_factors) {
               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesh.cpp: In instantiation of ‘void VIO::Mesh<VertexPosition>::computePerVertexNormals() [with VertexPosition = cv::Point_<float>]’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesh.cpp:345:16:   required from here
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesh.cpp:283:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vertices_mesh_normal_.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesh.cpp: In instantiation of ‘void VIO::Mesh<VertexPosition>::computePerVertexNormals() [with VertexPosition = cv::Point3_<float>]’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesh.cpp:346:16:   required from here
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesh.cpp:283:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/Histogram.cpp: In copy constructor ‘VIO::Histogram::Histogram(const VIO::Histogram&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/Histogram.cpp:79:24: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (size_t i = 0; i < dims_; i++) {
                      ~~^~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/Histogram.cpp:85:24: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (size_t i = 0; i < dims_; i++) {
                      ~~^~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/Histogram.cpp:89:24: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (size_t k = 0; k < dims_; k++) {
                      ~~^~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:38:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/initial/OnlineGravityAlignment.h: In constructor ‘VIO::OnlineGravityAlignment::OnlineGravityAlignment(const AlignmentPoses&, const std::vector<double>&, const AlignmentPims&, const Vector3&, const InitialAHRSPims&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/initial/OnlineGravityAlignment.h:117:29: warning: ‘VIO::OnlineGravityAlignment::delta_t_camera_’ will be initialized after [-Wreorder]
   const std::vector<double> delta_t_camera_;
                             ^~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/initial/OnlineGravityAlignment.h:115:23: warning:   ‘const AlignmentPims VIO::OnlineGravityAlignment::pims_’ [-Wreorder]
   const AlignmentPims pims_;
                       ^~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:90:1: warning:   when initialized here [-Wreorder]
 OnlineGravityAlignment::OnlineGravityAlignment(
 ^~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘void VIO::OnlineGravityAlignment::constructVisualInertialFrames(const AlignmentPoses&, const std::vector<double>&, const AlignmentPims&, VIO::VisualInertialFrames*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:178:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < pims.size(); i++) {
                   ~~^~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘void VIO::OnlineGravityAlignment::estimateGyroscopeBias(const VisualInertialFrames&, gtsam::Vector3*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:261:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vi_frames.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesher.cpp:15:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/mesh/Mesher.h: In constructor ‘VIO::Mesher::Mesher(const VIO::MesherParams&, const bool&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/mesh/Mesher.h:400:22: warning: ‘VIO::Mesher::mesher_params_’ will be initialized after [-Wreorder]
   const MesherParams mesher_params_;
                      ^~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/mesh/Mesher.h:391:10: warning:   ‘VIO::Mesh2D VIO::Mesher::mesh_2d_’ [-Wreorder]
   Mesh2D mesh_2d_;
          ^~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesher.cpp:180:1: warning:   when initialized here [-Wreorder]
 Mesher::Mesher(const MesherParams& mesher_params, const bool& serialize_meshes)
 ^~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘void VIO::OnlineGravityAlignment::estimateGyroscopeBiasAHRS(const VisualInertialFrames&, const InitialAHRSPims&, gtsam::Vector3*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:326:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vi_frames.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘gtsam::Vector3 VIO::OnlineGravityAlignment::estimateGyroscopeResiduals(const VisualInertialFrames&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:380:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vi_frames.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesher.cpp: In member function ‘void VIO::Mesher::clusterNormalsPerpendicularToAxis(const Point3f&, const std::vector<cv::Point3_<float> >&, const double&, std::vector<int>*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/mesh/Mesher.cpp:698:25: warning: unused variable ‘log_normals’ [-Wunused-variable]
   static constexpr bool log_normals = false;
                         ^~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘void VIO::OnlineGravityAlignment::updateDeltaStates(const AlignmentPims&, const Vector3&, VIO::VisualInertialFrames*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:406:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vi_frames->size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘bool VIO::OnlineGravityAlignment::alignEstimatesLinearly(const VisualInertialFrames&, const Vector3&, gtsam::Vector3*, gtsam::Velocity3*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:439:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < vi_frames.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In static member function ‘static gtsam::Matrix VIO::OnlineGravityAlignment::createTangentBasis(const Vector3&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:511:28: warning: left operand of comma operator has no effect [-Wunused-value]
   if (a == tmp) tmp << (1, 0, 0);
                            ^
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:511:31: warning: right operand of comma operator has no effect [-Wunused-value]
   if (a == tmp) tmp << (1, 0, 0);
                               ^
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp: In member function ‘void VIO::OnlineGravityAlignment::refineGravity(const VisualInertialFrames&, const Vector3&, gtsam::Vector3*, gtsam::Velocity3*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/OnlineGravityAlignment.cpp:552:23: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (int i = 0; i < vi_frames.size(); i++) {
                     ~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp: In static member function ‘static void VIO::UtilsOpenCV::PlainMatchTemplate(cv::Mat, cv::Mat, cv::Mat&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp:446:24: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (size_t i = 0; i < result_rows; i++) {
                      ~~^~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp:447:26: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (size_t j = 0; j < result_cols; j++) {
                        ~~^~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp: In static member function ‘static cv::Mat VIO::UtilsOpenCV::DrawCornersMatches(const cv::Mat&, const std::vector<cv::Point_<float> >&, const cv::Mat&, const std::vector<cv::Point_<float> >&, const std::vector<cv::DMatch>&, bool)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp:601:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < matches.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp: In static member function ‘static void VIO::UtilsOpenCV::DrawCornersMatchesOneByOne(cv::Mat, const std::vector<cv::Point_<float> >&, cv::Mat, const std::vector<cv::Point_<float> >&, const std::vector<cv::DMatch>&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp:689:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < matches.size(); i++) {
                   ~~^~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp: In static member function ‘static double VIO::UtilsOpenCV::MaxAbsValue(gtsam::Matrix)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp:704:24: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (size_t i = 0; i < M.rows(); i++) {
                      ~~^~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/utils/UtilsOpenCV.cpp:705:26: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (size_t j = 0; j < M.cols(); j++) {
                        ~~^~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp: In member function ‘std::vector<gtsam::Pose3> VIO::InitializationBackEnd::addInitialVisualStatesAndOptimize(const std::vector<std::unique_ptr<VIO::BackendInput> >&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp:160:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int i = 0; i < input.size(); i++) {
                   ~~^~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp:199:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (int j = 0; j < estimated_poses.size(); j++) {
                   ~~^~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp: In member function ‘virtual void VIO::InitializationBackEnd::addInitialVisualState(const Timestamp&, const StatusStereoMeasurements&, boost::optional<gtsam::Pose3>, int)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp:255:18: warning: unused variable ‘kfTrackingStatus_stereo’ [-Wunused-variable]
   TrackingStatus kfTrackingStatus_stereo =
                  ^~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp: In member function ‘std::vector<gtsam::Pose3> VIO::InitializationBackEnd::optimizeInitialVisualStates(const Timestamp&, const FrameId&, const size_t&, const std::vector<long unsigned int>&, int)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/initial/InitializationBackEnd.cpp:291:8: warning: variable ‘start_time’ set but not used [-Wunused-but-set-variable]
   auto start_time = total_start_time;
        ^~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/loopclosure/LoopClosureDetectorParams.cpp:15:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/loopclosure/LoopClosureDetectorParams.h: In constructor ‘VIO::LoopClosureDetectorParams::LoopClosureDetectorParams(int, int, double, cv::Point2d, bool, float, int, int, int, float, int, int, int, int, VIO::GeomVerifOption, int, int, double, double, bool, double, VIO::PoseRecoveryOption, int, double, double, bool, double, bool, bool, double, int, int, float, int, int, int, int, int, int, int, double, double, double, double)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/loopclosure/LoopClosureDetectorParams.h:224:7: warning: ‘VIO::LoopClosureDetectorParams::fast_threshold_’ will be initialized after [-Wreorder]
   int fast_threshold_;
       ^~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/loopclosure/LoopClosureDetectorParams.h:199:10: warning:   ‘double VIO::LoopClosureDetectorParams::betweenRotationPrecision_’ [-Wreorder]
   double betweenRotationPrecision_;
          ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/loopclosure/LoopClosureDetectorParams.cpp:19:1: warning:   when initialized here [-Wreorder]
 LoopClosureDetectorParams::LoopClosureDetectorParams(
 ^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/visualizer/OpenCvVisualizer3D.h:23:0,
                 from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:15:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp: In member function ‘virtual VIO::VisualizerOutput::UniquePtr VIO::OpenCvVisualizer3D::spinOnce(const VIO::VisualizerInput&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:169:61: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
           LOG_IF(ERROR, mesh_3d_viz_props_prev.colors_.rows > 0u)
                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp: In member function ‘void VIO::OpenCvVisualizer3D::visualizeConvexHull(const VIO::TriangleCluster&, const cv::Mat&, const cv::Mat&, VIO::WidgetsMap*)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:789:36: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     LOG_IF(FATAL, triangle_idx + 3 >= polygons_mesh.rows)
                   ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:843:34: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
         for (size_t k = 0; k + 3 < polygon_hull.rows; k += 4) {
                            ~~~~~~^~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp: In member function ‘void VIO::OpenCvVisualizer3D::addPoseToTrajectory(const Affine3d&)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:1106:40: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     while (trajectory_poses_3d_.size() > FLAGS_displayed_trajectory_length) {
            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp: In member function ‘void VIO::OpenCvVisualizer3D::logMesh(const cv::Mat&, const cv::Mat&, const cv::Mat&, const Timestamp&, bool)’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:1220:26: warning: unused variable ‘first_timestamp’ [-Wunused-variable]
   static const Timestamp first_timestamp = timestamp;
                          ^~~~~~~~~~~~~~~
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp: In member function ‘void VIO::OpenCvVisualizer3D::colorMeshByClusters(const std::vector<VIO::Plane>&, const cv::Mat&, const cv::Mat&, cv::Mat*) const’:
/home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:1245:25: warning: unused variable ‘log_landmarks’ [-Wunused-variable]
   static constexpr bool log_landmarks = false;
                         ^~~~~~~~~~~~~
In file included from /home/jayshaw/catkin_ws/src/Kimera-VIO/src/visualizer/OpenCvVisualizer3D.cpp:29:0:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/utils/FilesystemUtils.h: At global scope:
/home/jayshaw/catkin_ws/src/Kimera-VIO/include/kimera-vio/utils/FilesystemUtils.h:22:13: warning: ‘bool VIO::common::createDirectory(const string&, const string&, bool)’ defined but not used [-Wunused-function]
 static bool createDirectory(const std::string& dir_path,
             ^~~~~~~~~~~~~~~
CMake Error at /usr/share/cmake-3.10/Modules/GoogleTestAddTests.cmake:39 (message):
  Error running test executable.

    Path: '/home/jayshaw/catkin_ws/build/kimera_vio/testKimeraVIO'
    Result: Segmentation fault
    Output:

make[2]: *** [testKimeraVIO] Error 1
make[2]: *** 正在删除文件“testKimeraVIO”
make[1]: *** [CMakeFiles/testKimeraVIO.dir/all] Error 2
make: *** [all] Error 2
cd /home/jayshaw/catkin_ws/build/kimera_vio; catkin build --get-env kimera_vio | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
..............................................................................................................................
Failed     << kimera_vio:make                              [ Exited with code 2 ]                                             
Failed    <<< kimera_vio                                   [ 3 minutes and 41.9 seconds ]                                     
Abandoned <<< kimera_vio_ros                               [ Unrelated job failed ]                                           
[build] Summary: 12 of 14 packages succeeded.                                                                                 
[build]   Ignored:   None.                                                                                                    
[build]   Warnings:  7 packages succeeded with warnings.                                                                      
[build]   Abandoned: 1 packages were abandoned.                                                                               
[build]   Failed:    1 packages failed.                                                                                       
[build] Runtime: 8 minutes and 7.9 seconds total.                                                                             
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Additional files: Please attach all the files needed to reproduce the error.

Please give also the following information:

Kimera-Vio branch, tag or commit used:v5.0
GTSAM version used:4.0.0
OpenGV version used:
OpenCV version used: opencv 3.4.2
Operating system and version Ubuntu 18.04
Did you change the source code? (yes / no): no

ToniRV commented 3 years ago

@JayShaw-git try to disable the unit test build, it’s a cmake option(BUILD_TESTS "Build tests" ON)

Just do:

catkin config -a —cmake-args -DBUILD_TESTS=OFF

And then build again

JayShaw-git commented 3 years ago

@ToniRV thank you very much! It builds successfully with your suggestions. But when I run the launch file with this command below:

roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch

Console output: ... logging to /home/jayshaw/.ros/log/873b3fbc-5e19-11eb-9b41-a4bb6d571a89/roslaunch-jayshaw-3461.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jayshaw:40725/

SUMMARY

PARAMETERS

/kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
/kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: cam0
/kimera_vio_ros/kimera_vio_ros_node/map_frame_id: map
/kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
/kimera_vio_ros/kimera_vio_ros_node/online_run: True
/kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/jayshaw/cat...
/kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
/kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: cam1
/kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
/kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
/kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params: False
/kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
/kimera_vio_ros/kimera_vio_ros_node/world_frame_id: world
/kimera_vio_ros/posegraph_viewer/frame_id: world
/rosdistro: melodic
/rosversion: 1.14.10
/use_sim_time: True

NODES /kimera_vio_ros/ kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node) posegraph_viewer (pose_graph_tools/visualizer_node)

ROS_MASTER_URI=http://localhost:11311

process[kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [3476] /home/jayshaw/catkin_kvio/devel/lib/kimera_vio_ros/kimera_vio_ros_node: error while loading shared libraries: libopencv_viz.so.3.4: cannot open shared object file: No such file or directory

process[kimera_vio_ros/posegraphviewer-2]: started with pid [3477] [ INFO] [1611475781.785926239]: Initializing pose graph visualizer [kimera_vio_ros/kimera_vio_ros_node-1] process has died [pid 3476, exit code 127, cmd /home/jayshaw/catkin_kvio/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=false --vocabulary_path=/home/jayshaw/catkin_kvio/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/jayshaw/catkin_kvio/src/Kimera-VIO/params/Euroc/flags/Mesher.flags --flagfile=/home/jayshaw/catkin_kvio/src/Kimera-VIO/params/Euroc/flags/VioBackEnd.flags --flagfile=/home/jayshaw/catkin_kvio/src/Kimera-VIO/params/Euroc/flags/RegularVioBackEnd.flags --flagfile=/home/jayshaw/catkin_kvio/src/Kimera-VIO/params/Euroc/flags/Visualizer3D.flags --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --log_output=false --log_euroc_gt_data=false --output_path=/home/jayshaw/catkin_kvio/src/Kimera-VIO-ROS/output_logs/ --viz_type=0 --visualize=true left_cam/image_raw:=/cam0/image_raw right_cam/image_raw:=/cam1/image_raw imu:=/imu0 left_cam/camera_info:=/cam0/camera_info right_cam/camera_info:=/cam1/camera_info reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/home/jayshaw/.ros/log/873b3fbc-5e19-11eb-9b41-a4bb6d571a89/kimera_vio_ros-kimera_vio_ros_node-1.log]. log file: /home/jayshaw/.ros/log/873b3fbc-5e19-11eb-9b41-a4bb6d571a89/kimera_vio_ros-kimera_vio_ros_node-1*.log

Additional files: I fix the problem of "/home/jayshaw/catkin_kvio/devel/lib/kimera_vio_ros/kimera_vio_ros_node: error while loading shared libraries: libopencv_viz.so.3.4: cannot open shared object file: No such file or directory". But "process[kimera_vio_ros/posegraphviewer-2]: started with pid [3477] [ INFO] [1611475781.785926239]: Initializing pose graph visualizer" still is a problem!Can you help me again? thanks !

ToniRV commented 3 years ago

@JayShaw-git not sure if that is still a problem, can you make sure you update all the repos? Feel free to re-open if that doesn't fix the problem!

shaoxh commented 3 years ago

@JayShaw-git not sure if that is still a problem, can you make sure you update all the repos? Feel free to re-open if that doesn't fix the problem!

NO， let me tell you it could resolve the problem. @ToniRV

Here is my catkin config after execute your command. Additional CMake Args: -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF -DBUILD_TESTS=OFF Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

However, this error still there, like: CMake Error at /usr/share/cmake-3.10/Modules/GoogleTestAddTests.cmake:39 (message): Error running test executable.

Path: '/home/tongji/catkin_ws_kimera/build/kimera_vio/testKimeraVIO'
Result: 127
Output:

make[2]: [testKimeraVIO] Error 1 make[2]: 正在删除文件“testKimeraVIO” make[1]: [CMakeFiles/testKimeraVIO.dir/all] Error 2 make: [all] Error 2

Do you have any idea else?

wolfcanli commented 2 years ago

你好，请问你解决了上边报错问题吗？

shaoxh commented 2 years ago

解决了，但是我忘记中间过程了。有可能是网络原因。

wolfcanli commented 2 years ago

o/utils/FilesystemUtils.h:22:13: warning: ‘bool VIO::common::createDirectory(const string&, const string&, bool)’ defined but not used [-Wunused-function] static bool createDirectory(const std::string& dir_path,

谢谢回复

MIT-SPARK / Kimera-VIO

Error running test executable. #143

SUMMARY

NO， let me tell you it could resolve the problem. @ToniRV

Here is my catkin config after execute your command. Additional CMake Args: -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF -DBUILD_TESTS=OFF Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False